\documentclass{article}
\usepackage[x11names, rgb]{xcolor}
\usepackage[utf8]{inputenc}
\usepackage{tikz}
\usetikzlibrary{snakes,arrows,shapes}
\usepackage{amsmath}
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\usepackage[active,tightpage]{preview}
\PreviewEnvironment{tikzpicture}
\setlength\PreviewBorder{0pt}%
\usetikzlibrary{automata}%

\begin{document}
\pagestyle{empty}
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\enlargethispage{100cm}
% Start of code
\begin{tikzpicture}[>=latex',join=bevel,]
\tikzstyle{every state}=[draw=blue!50,very thick,fill=blue!20]%
\node (q0) at (92bp,458bp) [state] {$\{q_{1}\}$};
  \node (q5) at (111bp,106bp) [state] {$\{q_{5}\}$};
  \node (q3) at (92bp,282bp) [state] {$\{q_{3}\}$};
  \node (q2) at (78bp,18bp) [state] {$\{q_{9},q_{8},q_{7},q_{0}\}$};
  \node (q4) at (111bp,194bp) [state] {$\{q_{4},q_{6}\}$};
  \node (q1) at (92bp,370bp) [state] {$\{q_{2}\}$};
  \draw [->] (q5) ..controls (100bp,76bp) and (93bp,59bp)  .. node[auto] {$\tau$} (q2);
  \draw [->] (q5) ..controls (182bp,111bp) and (263bp,122bp)  .. (236bp,158bp) .. controls (225bp,173bp) and (181bp,183bp)  .. node[auto] {$\tau$} (q4);
  \draw [->] (q3) ..controls (83bp,250bp) and (78bp,230bp)  .. (75bp,212bp) .. controls (67bp,153bp) and (71bp,84bp)  .. node[auto] {$\tau$} (q2);
  \draw [->] (q3) ..controls (99bp,252bp) and (102bp,236bp)  .. node[auto] {$\tau$} (q4);
  \draw [->] (q0) ..controls (50bp,431bp) and (18bp,403bp)  .. (18bp,370bp) .. controls (18bp,370bp) and (18bp,370bp)  .. (18bp,106bp) .. controls (18bp,71bp) and (33bp,58bp)  .. node[auto] {$\tau$} (q2);
  \draw [->] (q0) ..controls (92bp,428bp) and (92bp,412bp)  .. node[auto] {$\tau$} (q1);
  \draw [->] (q2) ..controls (186bp,44bp) and (275bp,19bp)  .. (275bp,106bp) .. controls (275bp,370bp) and (275bp,370bp)  .. (275bp,370bp) .. controls (275bp,402bp) and (181bp,434bp)  .. node[auto] {$customer#shippingRequest$} (q0);
  \draw [->] (q4) ..controls (85bp,170bp) and (76bp,155bp)  .. (81bp,142bp) .. controls (83bp,137bp) and (86bp,133bp)  .. node[auto] {$\overline{customer#shippingNotice}$} (q5);
  \draw [->] (q1) ..controls (92bp,340bp) and (92bp,324bp)  .. node[auto] {$\overline{customer#shippingNotice}$} (q3);
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\end{tikzpicture}
% End of code

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\end{document}
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